From 16e37f0337548698ee9f95d5c465f65371ad72df Mon Sep 17 00:00:00 2001 From: "Team 3128: Controls" Date: Sun, 29 Oct 2023 00:22:32 -0700 Subject: [PATCH] Organized Auto Paths Co-Authored-By: Mason-Lam <97353903+Mason-Lam@users.noreply.github.com> --- ...ube_V2.path => b_cable_1Cone+1.5Cube.path} | 10 +- .../pathplanner/b_cable_1Cone+1Cube.path | 129 +++------- .../b_mid_1Cone+0.5Cube+Climb.path | 8 +- .../pathplanner/b_mid_1Cone+1Cube+Climb.path | 49 +++- .../deploy/pathplanner/b_mid_1Cone+Climb.path | 4 +- .../pathplanner/r_cable_1Cone+1.5Cube.path | 225 ++++++++++++++++++ .../pathplanner/r_cable_1Cone+1Cube.path | 93 +++----- .../r_mid_1Cone+0.5Cube+Climb.path | 14 +- .../pathplanner/r_mid_1Cone+1Cube+Climb.path | 197 +++++++++++++++ .../deploy/pathplanner/r_mid_1Cone+Climb.path | 4 +- .../frc/team3128/autonomous/AutoPrograms.java | 2 +- .../frc/team3128/autonomous/Trajectories.java | 8 +- 12 files changed, 545 insertions(+), 198 deletions(-) rename src/main/deploy/pathplanner/{b_cable_1Cone+1Cube_V2.path => b_cable_1Cone+1.5Cube.path} (96%) create mode 100644 src/main/deploy/pathplanner/r_cable_1Cone+1.5Cube.path create mode 100644 src/main/deploy/pathplanner/r_mid_1Cone+1Cube+Climb.path diff --git a/src/main/deploy/pathplanner/b_cable_1Cone+1Cube_V2.path b/src/main/deploy/pathplanner/b_cable_1Cone+1.5Cube.path similarity index 96% rename from src/main/deploy/pathplanner/b_cable_1Cone+1Cube_V2.path rename to src/main/deploy/pathplanner/b_cable_1Cone+1.5Cube.path index bd17d85..fa0a64a 100644 --- a/src/main/deploy/pathplanner/b_cable_1Cone+1Cube_V2.path +++ b/src/main/deploy/pathplanner/b_cable_1Cone+1.5Cube.path @@ -178,15 +178,15 @@ }, { "anchorPoint": { - "x": 3.741815186911401, - "y": 0.6289501880002328 + "x": 4.656651824002649, + "y": 0.5717728981820299 }, "prevControl": { - "x": 4.222104421384305, - "y": 0.6746920198547948 + "x": 5.182682890330118, + "y": 0.6518211039275137 }, "nextControl": null, - "holonomicAngle": 0.0, + "holonomicAngle": 0, "isReversal": false, "velOverride": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/b_cable_1Cone+1Cube.path b/src/main/deploy/pathplanner/b_cable_1Cone+1Cube.path index 15e341a..817d3e8 100644 --- a/src/main/deploy/pathplanner/b_cable_1Cone+1Cube.path +++ b/src/main/deploy/pathplanner/b_cable_1Cone+1Cube.path @@ -26,43 +26,18 @@ }, { "anchorPoint": { - "x": 3.7181434414952164, - "y": 0.6872733398244574 + "x": 3.7075088130204783, + "y": 0.6 }, "prevControl": { - "x": 3.0950688860698854, - "y": 0.6872733398244574 + "x": 3.0844342575951473, + "y": 0.6 }, "nextControl": { - "x": 4.109778196633054, - "y": 0.6872733398244574 + "x": 4.099143568158317, + "y": 0.6 }, - "holonomicAngle": 90.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.303302403479807, - "y": 0.7360412168741004 - }, - "prevControl": { - "x": 4.818317779170107, - "y": 0.7360412168741004 - }, - "nextControl": { - "x": 5.828125506993927, - "y": 0.7360412168741004 - }, - "holonomicAngle": 90.0, + "holonomicAngle": 0.0, "isReversal": false, "velOverride": null, "isLocked": false, @@ -77,15 +52,15 @@ { "anchorPoint": { "x": 6.694433640603393, - "y": 0.8154847264555638 + "y": 0.7 }, "prevControl": { - "x": 6.102898428019079, - "y": 0.7729795494313204 + "x": 5.743020330548507, + "y": 0.6049491252537939 }, "nextControl": { - "x": 6.102898428019079, - "y": 0.7729795494313204 + "x": 5.743020330548507, + "y": 0.6049491252537939 }, "holonomicAngle": 0.0, "isReversal": true, @@ -101,43 +76,18 @@ }, { "anchorPoint": { - "x": 5.316233719272994, - "y": 0.7524518104591758 - }, - "prevControl": { - "x": 5.755477834214798, - "y": 0.7524518104591756 - }, - "nextControl": { - "x": 4.8769896043311896, - "y": 0.7524518104591759 - }, - "holonomicAngle": 90.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 3.717041670194452, - "y": 0.7084969343549796 + "x": 3.6960733550526776, + "y": 0.6 }, "prevControl": { - "x": 4.248075648196162, - "y": 0.7084969343549796 + "x": 4.227107333054388, + "y": 0.6 }, "nextControl": { - "x": 3.1253090980516522, - "y": 0.7084969343549796 + "x": 3.104340782909878, + "y": 0.6 }, - "holonomicAngle": 90.0, + "holonomicAngle": 0.0, "isReversal": false, "velOverride": null, "isLocked": false, @@ -152,38 +102,11 @@ { "anchorPoint": { "x": 1.834230493113764, - "y": 1.5 + "y": 1.1 }, "prevControl": { - "x": 3.328467547907319, - "y": 1.1980883374961189 - }, - "nextControl": { - "x": 3.328467547907319, - "y": 1.1980883374961189 - }, - "holonomicAngle": 180.0, - "isReversal": true, - "velOverride": null, - "isLocked": false, - "isStopPoint": true, - "stopEvent": { - "names": [ - "ScoreCubeHigh" - ], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 6.0, - "y": 0.9977988827505433 - }, - "prevControl": { - "x": 2.5845669555922446, - "y": 0.32913967911269143 + "x": 2.472479352948291, + "y": 0.6632565618911479 }, "nextControl": null, "holonomicAngle": 180.0, @@ -192,7 +115,9 @@ "isLocked": false, "isStopPoint": false, "stopEvent": { - "names": [], + "names": [ + "ScoreCubeHigh" + ], "executionBehavior": "parallel", "waitBehavior": "none", "waitTime": 0 @@ -204,13 +129,13 @@ "isReversed": null, "markers": [ { - "position": 1.4254545454545942, + "position": 1.1272727272727252, "names": [ "PickupCube" ] }, { - "position": 3.921875000000001, + "position": 2.5090909090909514, "names": [ "Neutral" ] diff --git a/src/main/deploy/pathplanner/b_mid_1Cone+0.5Cube+Climb.path b/src/main/deploy/pathplanner/b_mid_1Cone+0.5Cube+Climb.path index 0ab2eb9..96bb318 100644 --- a/src/main/deploy/pathplanner/b_mid_1Cone+0.5Cube+Climb.path +++ b/src/main/deploy/pathplanner/b_mid_1Cone+0.5Cube+Climb.path @@ -55,12 +55,12 @@ "y": 2.7413229722292773 }, "prevControl": { - "x": 3.228725032102842, - "y": 2.7392933935173427 + "x": 3.228721800003708, + "y": 2.7413229722292773 }, "nextControl": { - "x": 4.45150006934901, - "y": 2.743187935905513 + "x": 4.451503039299102, + "y": 2.7413229722292773 }, "holonomicAngle": 0.0, "isReversal": false, diff --git a/src/main/deploy/pathplanner/b_mid_1Cone+1Cube+Climb.path b/src/main/deploy/pathplanner/b_mid_1Cone+1Cube+Climb.path index 3ae1e12..06f8183 100644 --- a/src/main/deploy/pathplanner/b_mid_1Cone+1Cube+Climb.path +++ b/src/main/deploy/pathplanner/b_mid_1Cone+1Cube+Climb.path @@ -55,12 +55,12 @@ "y": 2.7413229722292773 }, "prevControl": { - "x": 3.228725032102842, - "y": 2.7392933935173427 + "x": 3.228721800003708, + "y": 2.7413229722292773 }, "nextControl": { - "x": 4.45150006934901, - "y": 2.743187935905513 + "x": 4.451503039299102, + "y": 2.7413229722292773 }, "holonomicAngle": 0.0, "isReversal": false, @@ -77,15 +77,15 @@ { "anchorPoint": { "x": 6.707654896212571, - "y": 1.9 + "y": 1.5 }, "prevControl": { "x": 6.036038306451613, - "y": 2.1836771159653425 + "y": 1.7836771159653426 }, "nextControl": { "x": 6.036038306451613, - "y": 2.1836771159653425 + "y": 1.7836771159653426 }, "holonomicAngle": 0, "isReversal": true, @@ -102,17 +102,17 @@ { "anchorPoint": { "x": 5.5, - "y": 2.8 + "y": 2.27 }, "prevControl": { "x": 5.845939452221272, - "y": 2.744509911273745 + "y": 2.2145099112737454 }, "nextControl": { "x": 5.104026854742105, - "y": 2.863515695658558 + "y": 2.333515695658558 }, - "holonomicAngle": 180.0, + "holonomicAngle": 0.0, "isReversal": false, "velOverride": null, "isLocked": false, @@ -126,13 +126,38 @@ "waitTime": 0 } }, + { + "anchorPoint": { + "x": 2.41, + "y": 2.27 + }, + "prevControl": { + "x": 2.8289009120559596, + "y": 2.27 + }, + "nextControl": { + "x": 1.9407280395724524, + "y": 2.27 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, { "anchorPoint": { "x": 1.85, "y": 2.8 }, "prevControl": { - "x": 1.657861376779508, + "x": 2.042138623220492, "y": 2.8 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/b_mid_1Cone+Climb.path b/src/main/deploy/pathplanner/b_mid_1Cone+Climb.path index d81b0fc..e03bf6b 100644 --- a/src/main/deploy/pathplanner/b_mid_1Cone+Climb.path +++ b/src/main/deploy/pathplanner/b_mid_1Cone+Climb.path @@ -51,11 +51,11 @@ }, { "anchorPoint": { - "x": 5.7, + "x": 5.9, "y": 2.8069653465695823 }, "prevControl": { - "x": 5.2989651195214815, + "x": 5.498965119521482, "y": 2.8069653465695823 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/r_cable_1Cone+1.5Cube.path b/src/main/deploy/pathplanner/r_cable_1Cone+1.5Cube.path new file mode 100644 index 0000000..6c87510 --- /dev/null +++ b/src/main/deploy/pathplanner/r_cable_1Cone+1.5Cube.path @@ -0,0 +1,225 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 14.69, + "y": 0.5 + }, + "prevControl": null, + "nextControl": { + "x": 13.925675879064304, + "y": 0.5521063911206201 + }, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "ScoreConeHigh" + ], + "executionBehavior": "sequential", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 12.83, + "y": 0.6 + }, + "prevControl": { + "x": 13.453074555425331, + "y": 0.6 + }, + "nextControl": { + "x": 12.438365244862162, + "y": 0.6 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 9.85, + "y": 0.7 + }, + "prevControl": { + "x": 10.801405343067072, + "y": 0.6048694133149678 + }, + "nextControl": { + "x": 10.801405343067072, + "y": 0.6048694133149678 + }, + "holonomicAngle": 180.0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 12.84, + "y": 0.6 + }, + "prevControl": { + "x": 12.30896602199829, + "y": 0.6 + }, + "nextControl": { + "x": 13.4317325721428, + "y": 0.6 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 14.69, + "y": 1.1 + }, + "prevControl": { + "x": 14.051726678100353, + "y": 0.6632923124532808 + }, + "nextControl": { + "x": 14.051726678100353, + "y": 0.6632923124532808 + }, + "holonomicAngle": 0.0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": true, + "stopEvent": { + "names": [ + "ScoreCubeHigh" + ], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 12.8, + "y": 0.7089983937457166 + }, + "prevControl": { + "x": 13.097321907054658, + "y": 0.7089983937457166 + }, + "nextControl": { + "x": 12.499180067821252, + "y": 0.7089983937457166 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 9.81, + "y": 1.9897696856769331 + }, + "prevControl": { + "x": 10.882701100548172, + "y": 0.20449525333979146 + }, + "nextControl": { + "x": 10.882701100548172, + "y": 0.20449525333979146 + }, + "holonomicAngle": 121.0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 11.88, + "y": 0.5717728981820299 + }, + "prevControl": { + "x": 11.353965383041718, + "y": 0.49174802863363587 + }, + "nextControl": null, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "maxVelocity": 4.5, + "maxAcceleration": 2.3, + "isReversed": null, + "markers": [ + { + "position": 1.1272727272727252, + "names": [ + "PickupCube" + ] + }, + { + "position": 2.5090909090909514, + "names": [ + "Neutral" + ] + }, + { + "position": 5.141818181818192, + "names": [ + "PickupCube" + ] + } + ] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/r_cable_1Cone+1Cube.path b/src/main/deploy/pathplanner/r_cable_1Cone+1Cube.path index 482ca41..d5ac369 100644 --- a/src/main/deploy/pathplanner/r_cable_1Cone+1Cube.path +++ b/src/main/deploy/pathplanner/r_cable_1Cone+1Cube.path @@ -2,15 +2,15 @@ "waypoints": [ { "anchorPoint": { - "x": 14.700000000000001, + "x": 14.69, "y": 0.5 }, "prevControl": null, "nextControl": { - "x": 12.722549247876273, - "y": 0.8020895069567917 + "x": 13.925675879064304, + "y": 0.5521063911206201 }, - "holonomicAngle": 360.0, + "holonomicAngle": 0.0, "isReversal": false, "velOverride": null, "isLocked": false, @@ -26,18 +26,18 @@ }, { "anchorPoint": { - "x": 11.2214148445658, - "y": 0.93 + "x": 12.83, + "y": 0.6 }, "prevControl": { - "x": 12.192453048899203, - "y": 0.93 + "x": 13.453074555425331, + "y": 0.6 }, "nextControl": { - "x": 10.696591741051684, - "y": 0.93 + "x": 12.438365244862162, + "y": 0.6 }, - "holonomicAngle": 360.0, + "holonomicAngle": 180.0, "isReversal": false, "velOverride": null, "isLocked": false, @@ -51,18 +51,18 @@ }, { "anchorPoint": { - "x": 9.9, - "y": 0.8 + "x": 9.85, + "y": 0.7 }, "prevControl": { - "x": 10.337740836954193, - "y": 0.8 + "x": 10.801405343067072, + "y": 0.6048694133149678 }, "nextControl": { - "x": 10.337740836954193, - "y": 0.8 + "x": 10.801405343067072, + "y": 0.6048694133149678 }, - "holonomicAngle": 180, + "holonomicAngle": 180.0, "isReversal": true, "velOverride": null, "isLocked": false, @@ -76,18 +76,18 @@ }, { "anchorPoint": { - "x": 11.22, - "y": 0.75 + "x": 12.84, + "y": 0.6 }, "prevControl": { - "x": 10.780755885058197, - "y": 0.75 + "x": 12.30896602199829, + "y": 0.6 }, "nextControl": { - "x": 11.659244114941805, - "y": 0.75 + "x": 13.4317325721428, + "y": 0.6 }, - "holonomicAngle": 360.0, + "holonomicAngle": 180.0, "isReversal": false, "velOverride": null, "isLocked": false, @@ -101,48 +101,23 @@ }, { "anchorPoint": { - "x": 14.700000000000001, + "x": 14.69, "y": 1.1 }, "prevControl": { - "x": 13.414461624756584, - "y": 0.7262412510936134 - }, - "nextControl": { - "x": 13.414461624756584, - "y": 0.7262412510936134 - }, - "holonomicAngle": 360.0, - "isReversal": true, - "velOverride": null, - "isLocked": false, - "isStopPoint": true, - "stopEvent": { - "names": [ - "ScoreCubeHigh" - ], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 10.88897641418678, - "y": 0.7890465994912005 - }, - "prevControl": { - "x": 12.76439152022384, - "y": 0.6861274778184357 + "x": 14.051726678100353, + "y": 0.6632923124532808 }, "nextControl": null, - "holonomicAngle": 360.0, + "holonomicAngle": 0.0, "isReversal": false, "velOverride": null, "isLocked": false, "isStopPoint": false, "stopEvent": { - "names": [], + "names": [ + "ScoreCubeHigh" + ], "executionBehavior": "parallel", "waitBehavior": "none", "waitTime": 0 @@ -154,13 +129,13 @@ "isReversed": null, "markers": [ { - "position": 1.1, + "position": 1.1272727272727252, "names": [ "PickupCube" ] }, { - "position": 2.997869318181817, + "position": 2.5090909090909514, "names": [ "Neutral" ] diff --git a/src/main/deploy/pathplanner/r_mid_1Cone+0.5Cube+Climb.path b/src/main/deploy/pathplanner/r_mid_1Cone+0.5Cube+Climb.path index e10c8e7..178ec17 100644 --- a/src/main/deploy/pathplanner/r_mid_1Cone+0.5Cube+Climb.path +++ b/src/main/deploy/pathplanner/r_mid_1Cone+0.5Cube+Climb.path @@ -55,12 +55,12 @@ "y": 2.7413229722292773 }, "prevControl": { - "x": 13.321274967897159, - "y": 2.7392933935173427 + "x": 13.321278199996293, + "y": 2.7413229722292773 }, "nextControl": { - "x": 12.098499930650991, - "y": 2.743187935905513 + "x": 12.0984969607009, + "y": 2.7413229722292773 }, "holonomicAngle": 180.0, "isReversal": false, @@ -77,15 +77,15 @@ { "anchorPoint": { "x": 9.81, - "y": 1.9 + "y": 1.5 }, "prevControl": { "x": 10.481616589760959, - "y": 2.1836771159653425 + "y": 1.7836771159653426 }, "nextControl": { "x": 10.481616589760959, - "y": 2.1836771159653425 + "y": 1.7836771159653426 }, "holonomicAngle": 180, "isReversal": true, diff --git a/src/main/deploy/pathplanner/r_mid_1Cone+1Cube+Climb.path b/src/main/deploy/pathplanner/r_mid_1Cone+1Cube+Climb.path new file mode 100644 index 0000000..f785c96 --- /dev/null +++ b/src/main/deploy/pathplanner/r_mid_1Cone+1Cube+Climb.path @@ -0,0 +1,197 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 14.69, + "y": 2.2 + }, + "prevControl": null, + "nextControl": { + "x": 14.471498788558998, + "y": 2.4127058555720837 + }, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "ScoreConeHigh" + ], + "executionBehavior": "sequential", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 14.13, + "y": 2.73 + }, + "prevControl": { + "x": 14.403699108564984, + "y": 2.647469604007534 + }, + "nextControl": { + "x": 13.871508355351597, + "y": 2.807944783618144 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 12.67, + "y": 2.7413229722292773 + }, + "prevControl": { + "x": 13.307232959683589, + "y": 2.7413229722292773 + }, + "nextControl": { + "x": 12.084451720388195, + "y": 2.7413229722292773 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": 4.0, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 9.83, + "y": 1.5 + }, + "prevControl": { + "x": 10.501607686442625, + "y": 1.2163018060055075 + }, + "nextControl": { + "x": 10.501607686442625, + "y": 1.2163018060055075 + }, + "holonomicAngle": 180.0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "sequential", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 11.04, + "y": 2.27 + }, + "prevControl": { + "x": 10.694057790033689, + "y": 2.2145271064967047 + }, + "nextControl": { + "x": 11.435976301859341, + "y": 2.3334960134671374 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "Balance" + ], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 14.13, + "y": 2.27 + }, + "prevControl": { + "x": 13.711099087944042, + "y": 2.27 + }, + "nextControl": { + "x": 14.599271960427549, + "y": 2.27 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 14.69, + "y": 2.8 + }, + "prevControl": { + "x": 14.497861376779507, + "y": 2.8 + }, + "nextControl": null, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "ScoreCubeHigh", + "Balance2" + ], + "executionBehavior": "sequential", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "maxVelocity": 1.5, + "maxAcceleration": 2.0, + "isReversed": null, + "markers": [ + { + "position": 2.4062500000000004, + "names": [ + "PickupCube" + ] + }, + { + "position": 3.614488636363634, + "names": [ + "Neutral" + ] + } + ] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/r_mid_1Cone+Climb.path b/src/main/deploy/pathplanner/r_mid_1Cone+Climb.path index 17d9064..a571804 100644 --- a/src/main/deploy/pathplanner/r_mid_1Cone+Climb.path +++ b/src/main/deploy/pathplanner/r_mid_1Cone+Climb.path @@ -51,11 +51,11 @@ }, { "anchorPoint": { - "x": 10.85, + "x": 10.65, "y": 2.8069653465695823 }, "prevControl": { - "x": 11.25103488047852, + "x": 11.05103488047852, "y": 2.8069653465695823 }, "nextControl": null, diff --git a/src/main/java/frc/team3128/autonomous/AutoPrograms.java b/src/main/java/frc/team3128/autonomous/AutoPrograms.java index c8ef359..545ed33 100644 --- a/src/main/java/frc/team3128/autonomous/AutoPrograms.java +++ b/src/main/java/frc/team3128/autonomous/AutoPrograms.java @@ -26,7 +26,7 @@ private void initAutoSelector() { final String[] autoStrings = new String[] { //Blue Autos //Cable - "cable_1Cone+1Cube","cable_1Cone+2Cube", "cable_1Cone+1Cube_V2", "cable_1Cone+1.5Cube+Climb", + "cable_1Cone+1Cube","cable_1Cone+1.5Cube", "cable_1Cone+2Cube", "cable_1Cone+1.5Cube+Climb", //Mid "mid_1Cone+Climb","mid_1Cone+0.5Cube+Climb", "mid_1Cone+1Cube+Climb", //Hp diff --git a/src/main/java/frc/team3128/autonomous/Trajectories.java b/src/main/java/frc/team3128/autonomous/Trajectories.java index c2591d8..af9751b 100644 --- a/src/main/java/frc/team3128/autonomous/Trajectories.java +++ b/src/main/java/frc/team3128/autonomous/Trajectories.java @@ -45,19 +45,19 @@ public static void initTrajectories() { final String[] trajectoryNames = { //Blue Autos //Cable - "b_cable_1Cone+1Cube", "b_cable_1Cone+1Cube_V2","b_cable_1Cone+2Cube", "b_cable_1Cone+2Cube+Climb", + "b_cable_1Cone+1Cube", "b_cable_1Cone+1.5Cube","b_cable_1Cone+2Cube", "b_cable_1Cone+1.5Cube+Climb", //Mid "b_mid_1Cone+Climb","b_mid_1Cone+0.5Cube+Climb", "b_mid_1Cone+1Cube+Climb", //Hp - "b_hp_1Cone+1Cube","b_cable_1Cone+2Cube", + "b_hp_1Cone+1Cube", //Red Autos //Cable - "r_cable_1Cone+1Cube","r_cable_1Cone+2Cube", + "r_cable_1Cone+1Cube", "r_cable_1Cone+1.5Cube","r_cable_1Cone+2Cube", "r_cable_1Cone+1.5Cube+Climb", //Mid "r_mid_1Cone+Climb","r_mid_1Cone+0.5Cube+Climb","r_mid_1Cone+1Cube+Climb", //Hp - "r_hp_1Cone+1Cube","r_cable_1Cone+2Cube", + "r_hp_1Cone+1Cube" }; CommandEventMap.put("ScoreConeHigh", sequence(score(Position.HIGH_CONE, true)));